Robot device

Abstract

Provided is a conveyance robot device that can convey a to-be-conveyed object contained in a container at a high velocity without spilling the to-be-conveyed object. A robot device according to the present invention is a robot device including a robot configured to convey a to-be-conveyed object contained in a container and the container together, and a control device configured to control the robot. A posture of the container is controlled by the robot so as to correspond to the direction of a combined acceleration vector of robot acceleration applied to the to-be-conveyed object or the container by the robot and gravitational acceleration acting on the to-be-conveyed object. The robot is controlled so that an upper limit for a robot jerk, which is a rate of change of the robot acceleration, is limited to a predetermined value.

1 . A robot device comprising: a robot configured to convey a to-be-conveyed object contained in a container and the container together; and a control device configured to control the robot, wherein:
 a posture of the container is controlled by the robot so as to correspond to a direction of a combined acceleration vector of robot acceleration, which is applied to the to-be-conveyed object or the container by the robot, and   gravitational acceleration acting on the to-be-conveyed object; and   the robot is controlled so that an upper limit for a robot jerk, which is a rate of change of the robot acceleration, is limited to a predetermined value.   
     
     
         2 . The robot device according to  claim 1 , wherein an acceleration upper limit value is set for the robot acceleration, and when the robot acceleration is equal to or more than the acceleration upper limit value, the jerk is set to zero. 
     
     
         3 . The robot device according to  claim 1 , wherein when the posture of the container is controlled by the robot so as to correspond to the direction of the combined acceleration vector, the posture is controlled with a center of gravity of the to-be-conveyed object contained in the container as a center. 
     
     
         4 . The robot device according to  claim 1 , wherein the predetermined value to which the upper limit for the robot jerk is limited is set according to a response characteristic corresponding to at least either an instructed value for the robot acceleration or an instructed value for a velocity. 
     
     
         5 . The robot device according to  claim 4 , wherein the predetermined value to which the upper limit for the robot jerk is limited is 10 to 200 m/s 3 . 
     
     
         6 . A robot control method for controlling a robot configured to convey a to-be-conveyed object contained in a container and the container together, the robot control method comprising the steps of;
 controlling a posture of the container by the robot so as to correspond to a direction of a combined acceleration vector of robot acceleration applied to the to-be-conveyed object or the container by the robot and gravitational acceleration acting on the to-be-conveyed object; and   controlling the robot so that an upper limit for a robot jerk, which is a rate of change of the robot acceleration, is limited to a predetermined value.   
     
     
         7 . A program for causing a computer to execute respective steps of the robot control method according to  claim 6 .